Datasets:

introvoyz041
/

mujoco

	// Copyright 2022 DeepMind Technologies Limited
	//
	// Licensed under the Apache License, Version 2.0 (the "License");
	// you may not use this file except in compliance with the License.
	// You may obtain a copy of the License at
	//
	// http://www.apache.org/licenses/LICENSE-2.0
	//
	// Unless required by applicable law or agreed to in writing, software
	// distributed under the License is distributed on an "AS IS" BASIS,
	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	// See the License for the specific language governing permissions and
	// limitations under the License.

	// Tests for sdf collisions.

	#include <cstdio>
	#include <gmock/gmock.h>
	#include <gtest/gtest.h>
	#include <mujoco/mjdata.h>
	#include <mujoco/mjmodel.h>
	#include <mujoco/mjtnum.h>
	#include <mujoco/mujoco.h>
	#include "src/engine/engine_collision_sdf.h"
	#include "test/fixture.h"

	namespace mujoco {
	namespace {

	using ::testing::NotNull;
	using SdfTest = MujocoTest;

	static constexpr int kpoints = 6;
	static constexpr int kgeoms = 5;
	static constexpr char kSdfModel[] = R"(
	<mujoco>
	<worldbody>
	<geom type="plane" size="5 5 .1" pos="0 0 -1"/>
	<body pos="-.1 .2 2" euler="0 0 45">
	<geom type="sphere" size="1"/>
	<geom type="capsule" size=".1" fromto="-2 -2 1 2 2 1"/>
	<geom type="cylinder" size="1" fromto="0 0 0 2 0 0"/>
	<geom type="box" size="1 1 1"/>
	</body>
	</worldbody>
	</mujoco>
	)";

	TEST_F(SdfTest, SdfPrimitive) {
	mjModel* model = LoadModelFromString(kSdfModel);
	ASSERT_THAT(model, NotNull());
	mjData* data = mj_makeData(model);
	ASSERT_THAT(data, NotNull());
	ASSERT_THAT(model->ngeom, kgeoms);

	mjSDF sdf;
	const mjpPlugin* null_plugin = NULL;
	mjtNum gradient[3], dist[kgeoms][kpoints] = {
	{0, 0, 0, 0, 1, 1}, // plane
	{-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1}, // sphere
	{-.1, .9, .9, mju_sqrt(2)-.1, .9, mju_sqrt(2)-.1}, // capsule
	{-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1}, // cylinder
	{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
	};
	mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
	{1, 1, 0}, {0, 1, 1}, {1, 1, 1}};

	for (int i = 0; i < kgeoms; i++) {
	sdf.plugin = &null_plugin;
	sdf.id = &i;
	sdf.type = mjSDFTYPE_SINGLE;
	sdf.geomtype = (mjtGeom*)(model->geom_type+i);
	for (int j = 0; j < kpoints; j++) {
	EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j], 1e-9);
	mjc_gradient(model, data, &sdf, gradient, points[j]);
	}
	}

	mj_deleteData(data);
	mj_deleteModel(model);
	}

	} // namespace
	} // namespace mujoco